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<a href="#pub-types">Public 类型</a> &#124;
<a href="#pub-methods">Public 成员函数</a> &#124;
<a href="#pub-attribs">Public 属性</a> &#124;
<a href="#pro-methods">Protected 成员函数</a> &#124;
<a href="#pro-attribs">Protected 属性</a> &#124;
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<div class="title">pcl::registration::CorrespondenceRejectorSampleConsensus&lt; PointT &gt; 模板类 参考</div>  </div>
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<p><a class="el" href="classpcl_1_1registration_1_1_correspondence_rejector_sample_consensus.html" title="CorrespondenceRejectorSampleConsensus implements a correspondence rejection using Random Sample Conse...">CorrespondenceRejectorSampleConsensus</a> implements a correspondence rejection using Random Sample Consensus to identify inliers (and reject outliers)  
 <a href="classpcl_1_1registration_1_1_correspondence_rejector_sample_consensus.html#details">更多...</a></p>

<p><code>#include &lt;<a class="el" href="correspondence__rejection__sample__consensus_8h_source.html">correspondence_rejection_sample_consensus.h</a>&gt;</code></p>
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类 pcl::registration::CorrespondenceRejectorSampleConsensus&lt; PointT &gt; 继承关系图:</div>
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  <img src="classpcl_1_1registration_1_1_correspondence_rejector_sample_consensus.png" usemap="#pcl::registration::CorrespondenceRejectorSampleConsensus_3C_20PointT_20_3E_map" alt=""/>
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<table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-types"></a>
Public 类型</h2></td></tr>
<tr class="memitem:aa68eb44d3841b33923f9fdb0c447414a"><td class="memItemLeft" align="right" valign="top"><a id="aa68eb44d3841b33923f9fdb0c447414a"></a>
typedef boost::shared_ptr&lt; <a class="el" href="classpcl_1_1registration_1_1_correspondence_rejector_sample_consensus.html">CorrespondenceRejectorSampleConsensus</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>Ptr</b></td></tr>
<tr class="separator:aa68eb44d3841b33923f9fdb0c447414a"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aca8b974dfc35d3f65cc12fa550e52d7c"><td class="memItemLeft" align="right" valign="top"><a id="aca8b974dfc35d3f65cc12fa550e52d7c"></a>
typedef boost::shared_ptr&lt; const <a class="el" href="classpcl_1_1registration_1_1_correspondence_rejector_sample_consensus.html">CorrespondenceRejectorSampleConsensus</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>ConstPtr</b></td></tr>
<tr class="separator:aca8b974dfc35d3f65cc12fa550e52d7c"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="inherit_header pub_types_classpcl_1_1registration_1_1_correspondence_rejector"><td colspan="2" onclick="javascript:toggleInherit('pub_types_classpcl_1_1registration_1_1_correspondence_rejector')"><img src="closed.png" alt="-"/>&#160;Public 类型 继承自 <a class="el" href="classpcl_1_1registration_1_1_correspondence_rejector.html">pcl::registration::CorrespondenceRejector</a></td></tr>
<tr class="memitem:a192578d5c6faa199b6137f7052ebe3bd inherit pub_types_classpcl_1_1registration_1_1_correspondence_rejector"><td class="memItemLeft" align="right" valign="top"><a id="a192578d5c6faa199b6137f7052ebe3bd"></a>
typedef boost::shared_ptr&lt; <a class="el" href="classpcl_1_1registration_1_1_correspondence_rejector.html">CorrespondenceRejector</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>Ptr</b></td></tr>
<tr class="separator:a192578d5c6faa199b6137f7052ebe3bd inherit pub_types_classpcl_1_1registration_1_1_correspondence_rejector"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a364a36b29c665856a1819d7a42cf5154 inherit pub_types_classpcl_1_1registration_1_1_correspondence_rejector"><td class="memItemLeft" align="right" valign="top"><a id="a364a36b29c665856a1819d7a42cf5154"></a>
typedef boost::shared_ptr&lt; const <a class="el" href="classpcl_1_1registration_1_1_correspondence_rejector.html">CorrespondenceRejector</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>ConstPtr</b></td></tr>
<tr class="separator:a364a36b29c665856a1819d7a42cf5154 inherit pub_types_classpcl_1_1registration_1_1_correspondence_rejector"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
Public 成员函数</h2></td></tr>
<tr class="memitem:aaa1d22adcc0770ba490d63c000a80745"><td class="memItemLeft" align="right" valign="top"><a id="aaa1d22adcc0770ba490d63c000a80745"></a>
&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_correspondence_rejector_sample_consensus.html#aaa1d22adcc0770ba490d63c000a80745">CorrespondenceRejectorSampleConsensus</a> ()</td></tr>
<tr class="memdesc:aaa1d22adcc0770ba490d63c000a80745"><td class="mdescLeft">&#160;</td><td class="mdescRight">Empty constructor. Sets the inlier threshold to 5cm (0.05m), and the maximum number of iterations to 1000. <br /></td></tr>
<tr class="separator:aaa1d22adcc0770ba490d63c000a80745"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aac049e0c3ed7ae001505766ad642b1e8"><td class="memItemLeft" align="right" valign="top"><a id="aac049e0c3ed7ae001505766ad642b1e8"></a>
virtual&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_correspondence_rejector_sample_consensus.html#aac049e0c3ed7ae001505766ad642b1e8">~CorrespondenceRejectorSampleConsensus</a> ()</td></tr>
<tr class="memdesc:aac049e0c3ed7ae001505766ad642b1e8"><td class="mdescLeft">&#160;</td><td class="mdescRight">Empty destructor. <br /></td></tr>
<tr class="separator:aac049e0c3ed7ae001505766ad642b1e8"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a2aaf796cecda8778814f114c54026570"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_correspondence_rejector_sample_consensus.html#a2aaf796cecda8778814f114c54026570">getRemainingCorrespondences</a> (const pcl::Correspondences &amp;original_correspondences, pcl::Correspondences &amp;remaining_correspondences)</td></tr>
<tr class="memdesc:a2aaf796cecda8778814f114c54026570"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get a list of valid correspondences after rejection from the original set of correspondences.  <a href="classpcl_1_1registration_1_1_correspondence_rejector_sample_consensus.html#a2aaf796cecda8778814f114c54026570">更多...</a><br /></td></tr>
<tr class="separator:a2aaf796cecda8778814f114c54026570"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a317ed67e3cf3c3dc95515b1ae1922477"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_correspondence_rejector_sample_consensus.html#a317ed67e3cf3c3dc95515b1ae1922477">setInputCloud</a> (const PointCloudConstPtr &amp;cloud)</td></tr>
<tr class="memdesc:a317ed67e3cf3c3dc95515b1ae1922477"><td class="mdescLeft">&#160;</td><td class="mdescRight">Provide a source point cloud dataset (must contain XYZ data!)  <a href="classpcl_1_1registration_1_1_correspondence_rejector_sample_consensus.html#a317ed67e3cf3c3dc95515b1ae1922477">更多...</a><br /></td></tr>
<tr class="separator:a317ed67e3cf3c3dc95515b1ae1922477"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a3c79c87e459d2a63d5a92e9aa2d1db37"><td class="memItemLeft" align="right" valign="top"><a id="a3c79c87e459d2a63d5a92e9aa2d1db37"></a>
PointCloudConstPtr const&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_correspondence_rejector_sample_consensus.html#a3c79c87e459d2a63d5a92e9aa2d1db37">getInputCloud</a> ()</td></tr>
<tr class="memdesc:a3c79c87e459d2a63d5a92e9aa2d1db37"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get a pointer to the input point cloud dataset target. <br /></td></tr>
<tr class="separator:a3c79c87e459d2a63d5a92e9aa2d1db37"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a0ade3619194ea442ea9bd819762e63d0"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_correspondence_rejector_sample_consensus.html#a0ade3619194ea442ea9bd819762e63d0">setInputSource</a> (const PointCloudConstPtr &amp;cloud)</td></tr>
<tr class="memdesc:a0ade3619194ea442ea9bd819762e63d0"><td class="mdescLeft">&#160;</td><td class="mdescRight">Provide a source point cloud dataset (must contain XYZ data!)  <a href="classpcl_1_1registration_1_1_correspondence_rejector_sample_consensus.html#a0ade3619194ea442ea9bd819762e63d0">更多...</a><br /></td></tr>
<tr class="separator:a0ade3619194ea442ea9bd819762e63d0"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ab49081cebce1c204c25dcacf5c8f2a3b"><td class="memItemLeft" align="right" valign="top"><a id="ab49081cebce1c204c25dcacf5c8f2a3b"></a>
PointCloudConstPtr const&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_correspondence_rejector_sample_consensus.html#ab49081cebce1c204c25dcacf5c8f2a3b">getInputSource</a> ()</td></tr>
<tr class="memdesc:ab49081cebce1c204c25dcacf5c8f2a3b"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get a pointer to the input point cloud dataset target. <br /></td></tr>
<tr class="separator:ab49081cebce1c204c25dcacf5c8f2a3b"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a40ad890d41710c6b1eef0f75a4d24046"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_correspondence_rejector_sample_consensus.html#a40ad890d41710c6b1eef0f75a4d24046">setTargetCloud</a> (const PointCloudConstPtr &amp;cloud)</td></tr>
<tr class="memdesc:a40ad890d41710c6b1eef0f75a4d24046"><td class="mdescLeft">&#160;</td><td class="mdescRight">Provide a target point cloud dataset (must contain XYZ data!)  <a href="classpcl_1_1registration_1_1_correspondence_rejector_sample_consensus.html#a40ad890d41710c6b1eef0f75a4d24046">更多...</a><br /></td></tr>
<tr class="separator:a40ad890d41710c6b1eef0f75a4d24046"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a42faaefd43eaf43b32efe0b1722a3d98"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_correspondence_rejector_sample_consensus.html#a42faaefd43eaf43b32efe0b1722a3d98">setInputTarget</a> (const PointCloudConstPtr &amp;cloud)</td></tr>
<tr class="memdesc:a42faaefd43eaf43b32efe0b1722a3d98"><td class="mdescLeft">&#160;</td><td class="mdescRight">Provide a target point cloud dataset (must contain XYZ data!)  <a href="classpcl_1_1registration_1_1_correspondence_rejector_sample_consensus.html#a42faaefd43eaf43b32efe0b1722a3d98">更多...</a><br /></td></tr>
<tr class="separator:a42faaefd43eaf43b32efe0b1722a3d98"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aba38b8207d7de0e9bf524989375228bb"><td class="memItemLeft" align="right" valign="top"><a id="aba38b8207d7de0e9bf524989375228bb"></a>
PointCloudConstPtr const&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_correspondence_rejector_sample_consensus.html#aba38b8207d7de0e9bf524989375228bb">getInputTarget</a> ()</td></tr>
<tr class="memdesc:aba38b8207d7de0e9bf524989375228bb"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get a pointer to the input point cloud dataset target. <br /></td></tr>
<tr class="separator:aba38b8207d7de0e9bf524989375228bb"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a9fee603842fbb8711d88ed2187c9212b"><td class="memItemLeft" align="right" valign="top"><a id="a9fee603842fbb8711d88ed2187c9212b"></a>
bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_correspondence_rejector_sample_consensus.html#a9fee603842fbb8711d88ed2187c9212b">requiresSourcePoints</a> () const</td></tr>
<tr class="memdesc:a9fee603842fbb8711d88ed2187c9212b"><td class="mdescLeft">&#160;</td><td class="mdescRight">See if this rejector requires source points <br /></td></tr>
<tr class="separator:a9fee603842fbb8711d88ed2187c9212b"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a02c8f8bf4ceb74c9c78aad5b4b0e84f1"><td class="memItemLeft" align="right" valign="top"><a id="a02c8f8bf4ceb74c9c78aad5b4b0e84f1"></a>
void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_correspondence_rejector_sample_consensus.html#a02c8f8bf4ceb74c9c78aad5b4b0e84f1">setSourcePoints</a> (pcl::PCLPointCloud2::ConstPtr cloud2)</td></tr>
<tr class="memdesc:a02c8f8bf4ceb74c9c78aad5b4b0e84f1"><td class="mdescLeft">&#160;</td><td class="mdescRight">Blob method for setting the source cloud <br /></td></tr>
<tr class="separator:a02c8f8bf4ceb74c9c78aad5b4b0e84f1"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a365645ecdf7a1642bb4db927b71e9240"><td class="memItemLeft" align="right" valign="top"><a id="a365645ecdf7a1642bb4db927b71e9240"></a>
bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_correspondence_rejector_sample_consensus.html#a365645ecdf7a1642bb4db927b71e9240">requiresTargetPoints</a> () const</td></tr>
<tr class="memdesc:a365645ecdf7a1642bb4db927b71e9240"><td class="mdescLeft">&#160;</td><td class="mdescRight">See if this rejector requires a target cloud <br /></td></tr>
<tr class="separator:a365645ecdf7a1642bb4db927b71e9240"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a96e6bbc7ad3b19b4f33f60d3748a36e7"><td class="memItemLeft" align="right" valign="top"><a id="a96e6bbc7ad3b19b4f33f60d3748a36e7"></a>
void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_correspondence_rejector_sample_consensus.html#a96e6bbc7ad3b19b4f33f60d3748a36e7">setTargetPoints</a> (pcl::PCLPointCloud2::ConstPtr cloud2)</td></tr>
<tr class="memdesc:a96e6bbc7ad3b19b4f33f60d3748a36e7"><td class="mdescLeft">&#160;</td><td class="mdescRight">Method for setting the target cloud <br /></td></tr>
<tr class="separator:a96e6bbc7ad3b19b4f33f60d3748a36e7"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a48a908a4f76abe9b09d245e295bc00e2"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_correspondence_rejector_sample_consensus.html#a48a908a4f76abe9b09d245e295bc00e2">setInlierThreshold</a> (double threshold)</td></tr>
<tr class="memdesc:a48a908a4f76abe9b09d245e295bc00e2"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set the maximum distance between corresponding points. Correspondences with distances below the threshold are considered as inliers.  <a href="classpcl_1_1registration_1_1_correspondence_rejector_sample_consensus.html#a48a908a4f76abe9b09d245e295bc00e2">更多...</a><br /></td></tr>
<tr class="separator:a48a908a4f76abe9b09d245e295bc00e2"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a0923e654979f143451b724300e591829"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_correspondence_rejector_sample_consensus.html#a0923e654979f143451b724300e591829">getInlierThreshold</a> ()</td></tr>
<tr class="memdesc:a0923e654979f143451b724300e591829"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the maximum distance between corresponding points.  <a href="classpcl_1_1registration_1_1_correspondence_rejector_sample_consensus.html#a0923e654979f143451b724300e591829">更多...</a><br /></td></tr>
<tr class="separator:a0923e654979f143451b724300e591829"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a48872674ea2153a558fcb10756783612"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_correspondence_rejector_sample_consensus.html#a48872674ea2153a558fcb10756783612">setMaxIterations</a> (int max_iterations)</td></tr>
<tr class="memdesc:a48872674ea2153a558fcb10756783612"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set the maximum number of iterations.  <a href="classpcl_1_1registration_1_1_correspondence_rejector_sample_consensus.html#a48872674ea2153a558fcb10756783612">更多...</a><br /></td></tr>
<tr class="separator:a48872674ea2153a558fcb10756783612"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a49fa9e17ad1e371c4b5db9766d598349"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_correspondence_rejector_sample_consensus.html#a49fa9e17ad1e371c4b5db9766d598349">setMaximumIterations</a> (int max_iterations)</td></tr>
<tr class="memdesc:a49fa9e17ad1e371c4b5db9766d598349"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set the maximum number of iterations.  <a href="classpcl_1_1registration_1_1_correspondence_rejector_sample_consensus.html#a49fa9e17ad1e371c4b5db9766d598349">更多...</a><br /></td></tr>
<tr class="separator:a49fa9e17ad1e371c4b5db9766d598349"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ac40d21538c1487e0a080bb084fb64cb7"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_correspondence_rejector_sample_consensus.html#ac40d21538c1487e0a080bb084fb64cb7">getMaxIterations</a> ()</td></tr>
<tr class="memdesc:ac40d21538c1487e0a080bb084fb64cb7"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the maximum number of iterations.  <a href="classpcl_1_1registration_1_1_correspondence_rejector_sample_consensus.html#ac40d21538c1487e0a080bb084fb64cb7">更多...</a><br /></td></tr>
<tr class="separator:ac40d21538c1487e0a080bb084fb64cb7"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aa086670c0dec609354fcb5f02746ee8f"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_correspondence_rejector_sample_consensus.html#aa086670c0dec609354fcb5f02746ee8f">getMaximumIterations</a> ()</td></tr>
<tr class="memdesc:aa086670c0dec609354fcb5f02746ee8f"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the maximum number of iterations.  <a href="classpcl_1_1registration_1_1_correspondence_rejector_sample_consensus.html#aa086670c0dec609354fcb5f02746ee8f">更多...</a><br /></td></tr>
<tr class="separator:aa086670c0dec609354fcb5f02746ee8f"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a1542fc4a3d5d6c82485a321864a027af"><td class="memItemLeft" align="right" valign="top">Eigen::Matrix4f&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_correspondence_rejector_sample_consensus.html#a1542fc4a3d5d6c82485a321864a027af">getBestTransformation</a> ()</td></tr>
<tr class="memdesc:a1542fc4a3d5d6c82485a321864a027af"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the best transformation after RANSAC rejection.  <a href="classpcl_1_1registration_1_1_correspondence_rejector_sample_consensus.html#a1542fc4a3d5d6c82485a321864a027af">更多...</a><br /></td></tr>
<tr class="separator:a1542fc4a3d5d6c82485a321864a027af"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ad51df1b8798951557863082feabcc0b8"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_correspondence_rejector_sample_consensus.html#ad51df1b8798951557863082feabcc0b8">setRefineModel</a> (const bool refine)</td></tr>
<tr class="memdesc:ad51df1b8798951557863082feabcc0b8"><td class="mdescLeft">&#160;</td><td class="mdescRight">Specify whether the model should be refined internally using the variance of the inliers  <a href="classpcl_1_1registration_1_1_correspondence_rejector_sample_consensus.html#ad51df1b8798951557863082feabcc0b8">更多...</a><br /></td></tr>
<tr class="separator:ad51df1b8798951557863082feabcc0b8"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a9c435f892376eb27f1e56b0f331e91ca"><td class="memItemLeft" align="right" valign="top"><a id="a9c435f892376eb27f1e56b0f331e91ca"></a>
bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_correspondence_rejector_sample_consensus.html#a9c435f892376eb27f1e56b0f331e91ca">getRefineModel</a> () const</td></tr>
<tr class="memdesc:a9c435f892376eb27f1e56b0f331e91ca"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the internal refine parameter value as set by the user using setRefineModel <br /></td></tr>
<tr class="separator:a9c435f892376eb27f1e56b0f331e91ca"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a09e5739be1169a311fae7408e12cb359"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_correspondence_rejector_sample_consensus.html#a09e5739be1169a311fae7408e12cb359">getInliersIndices</a> (std::vector&lt; int &gt; &amp;inlier_indices)</td></tr>
<tr class="memdesc:a09e5739be1169a311fae7408e12cb359"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the inlier indices found by the correspondence rejector. This information is only saved if setSaveInliers(true) was called in advance.  <a href="classpcl_1_1registration_1_1_correspondence_rejector_sample_consensus.html#a09e5739be1169a311fae7408e12cb359">更多...</a><br /></td></tr>
<tr class="separator:a09e5739be1169a311fae7408e12cb359"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a856f38d7b293a9acbd019c95cbffa124"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_correspondence_rejector_sample_consensus.html#a856f38d7b293a9acbd019c95cbffa124">setSaveInliers</a> (bool s)</td></tr>
<tr class="memdesc:a856f38d7b293a9acbd019c95cbffa124"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set whether to save inliers or not  <a href="classpcl_1_1registration_1_1_correspondence_rejector_sample_consensus.html#a856f38d7b293a9acbd019c95cbffa124">更多...</a><br /></td></tr>
<tr class="separator:a856f38d7b293a9acbd019c95cbffa124"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a377dcf34beb9b60fc22dd76a5a7336ad"><td class="memItemLeft" align="right" valign="top"><a id="a377dcf34beb9b60fc22dd76a5a7336ad"></a>
bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_correspondence_rejector_sample_consensus.html#a377dcf34beb9b60fc22dd76a5a7336ad">getSaveInliers</a> ()</td></tr>
<tr class="memdesc:a377dcf34beb9b60fc22dd76a5a7336ad"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get whether the rejector is configured to save inliers <br /></td></tr>
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<tr class="memitem:aa5996af869d7aaa6b8b8dc156038dd3f"><td class="memItemLeft" align="right" valign="top"><a id="aa5996af869d7aaa6b8b8dc156038dd3f"></a>
const std::string &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_correspondence_rejector_sample_consensus.html#aa5996af869d7aaa6b8b8dc156038dd3f">getClassName</a> () const</td></tr>
<tr class="memdesc:aa5996af869d7aaa6b8b8dc156038dd3f"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get a string representation of the name of this class. <br /></td></tr>
<tr class="separator:aa5996af869d7aaa6b8b8dc156038dd3f"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="inherit_header pub_methods_classpcl_1_1registration_1_1_correspondence_rejector"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classpcl_1_1registration_1_1_correspondence_rejector')"><img src="closed.png" alt="-"/>&#160;Public 成员函数 继承自 <a class="el" href="classpcl_1_1registration_1_1_correspondence_rejector.html">pcl::registration::CorrespondenceRejector</a></td></tr>
<tr class="memitem:aece0e22dd156eaacff20b45069036483 inherit pub_methods_classpcl_1_1registration_1_1_correspondence_rejector"><td class="memItemLeft" align="right" valign="top"><a id="aece0e22dd156eaacff20b45069036483"></a>
&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_correspondence_rejector.html#aece0e22dd156eaacff20b45069036483">CorrespondenceRejector</a> ()</td></tr>
<tr class="memdesc:aece0e22dd156eaacff20b45069036483 inherit pub_methods_classpcl_1_1registration_1_1_correspondence_rejector"><td class="mdescLeft">&#160;</td><td class="mdescRight">Empty constructor. <br /></td></tr>
<tr class="separator:aece0e22dd156eaacff20b45069036483 inherit pub_methods_classpcl_1_1registration_1_1_correspondence_rejector"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a6cbaada1584e194daaad3fd0c2d4aee8 inherit pub_methods_classpcl_1_1registration_1_1_correspondence_rejector"><td class="memItemLeft" align="right" valign="top"><a id="a6cbaada1584e194daaad3fd0c2d4aee8"></a>
virtual&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_correspondence_rejector.html#a6cbaada1584e194daaad3fd0c2d4aee8">~CorrespondenceRejector</a> ()</td></tr>
<tr class="memdesc:a6cbaada1584e194daaad3fd0c2d4aee8 inherit pub_methods_classpcl_1_1registration_1_1_correspondence_rejector"><td class="mdescLeft">&#160;</td><td class="mdescRight">Empty destructor. <br /></td></tr>
<tr class="separator:a6cbaada1584e194daaad3fd0c2d4aee8 inherit pub_methods_classpcl_1_1registration_1_1_correspondence_rejector"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:af69c08f02cc1a3f69920f73f1664f0d8 inherit pub_methods_classpcl_1_1registration_1_1_correspondence_rejector"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_correspondence_rejector.html#af69c08f02cc1a3f69920f73f1664f0d8">setInputCorrespondences</a> (const CorrespondencesConstPtr &amp;correspondences)</td></tr>
<tr class="memdesc:af69c08f02cc1a3f69920f73f1664f0d8 inherit pub_methods_classpcl_1_1registration_1_1_correspondence_rejector"><td class="mdescLeft">&#160;</td><td class="mdescRight">Provide a pointer to the vector of the input correspondences.  <a href="classpcl_1_1registration_1_1_correspondence_rejector.html#af69c08f02cc1a3f69920f73f1664f0d8">更多...</a><br /></td></tr>
<tr class="separator:af69c08f02cc1a3f69920f73f1664f0d8 inherit pub_methods_classpcl_1_1registration_1_1_correspondence_rejector"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ae43d54dc28964e8df4ab05b74c3b7135 inherit pub_methods_classpcl_1_1registration_1_1_correspondence_rejector"><td class="memItemLeft" align="right" valign="top">CorrespondencesConstPtr&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_correspondence_rejector.html#ae43d54dc28964e8df4ab05b74c3b7135">getInputCorrespondences</a> ()</td></tr>
<tr class="memdesc:ae43d54dc28964e8df4ab05b74c3b7135 inherit pub_methods_classpcl_1_1registration_1_1_correspondence_rejector"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get a pointer to the vector of the input correspondences.  <a href="classpcl_1_1registration_1_1_correspondence_rejector.html#ae43d54dc28964e8df4ab05b74c3b7135">更多...</a><br /></td></tr>
<tr class="separator:ae43d54dc28964e8df4ab05b74c3b7135 inherit pub_methods_classpcl_1_1registration_1_1_correspondence_rejector"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a72c90f3fb93739b0366d3528cf7d502f inherit pub_methods_classpcl_1_1registration_1_1_correspondence_rejector"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_correspondence_rejector.html#a72c90f3fb93739b0366d3528cf7d502f">getCorrespondences</a> (pcl::Correspondences &amp;correspondences)</td></tr>
<tr class="memdesc:a72c90f3fb93739b0366d3528cf7d502f inherit pub_methods_classpcl_1_1registration_1_1_correspondence_rejector"><td class="mdescLeft">&#160;</td><td class="mdescRight">Run correspondence rejection  <a href="classpcl_1_1registration_1_1_correspondence_rejector.html#a72c90f3fb93739b0366d3528cf7d502f">更多...</a><br /></td></tr>
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<tr class="memitem:a6a1c8dff3bcce8f99ec98b9982838ffc inherit pub_methods_classpcl_1_1registration_1_1_correspondence_rejector"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_correspondence_rejector.html#a6a1c8dff3bcce8f99ec98b9982838ffc">getRejectedQueryIndices</a> (const pcl::Correspondences &amp;correspondences, std::vector&lt; int &gt; &amp;indices)</td></tr>
<tr class="memdesc:a6a1c8dff3bcce8f99ec98b9982838ffc inherit pub_methods_classpcl_1_1registration_1_1_correspondence_rejector"><td class="mdescLeft">&#160;</td><td class="mdescRight">Determine the indices of query points of correspondences that have been rejected, i.e., the difference between the input correspondences (set via <em>setInputCorrespondences</em>) and the given correspondence vector.  <a href="classpcl_1_1registration_1_1_correspondence_rejector.html#a6a1c8dff3bcce8f99ec98b9982838ffc">更多...</a><br /></td></tr>
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<tr class="memitem:aa5996af869d7aaa6b8b8dc156038dd3f inherit pub_methods_classpcl_1_1registration_1_1_correspondence_rejector"><td class="memItemLeft" align="right" valign="top"><a id="aa5996af869d7aaa6b8b8dc156038dd3f"></a>
const std::string &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_correspondence_rejector.html#aa5996af869d7aaa6b8b8dc156038dd3f">getClassName</a> () const</td></tr>
<tr class="memdesc:aa5996af869d7aaa6b8b8dc156038dd3f inherit pub_methods_classpcl_1_1registration_1_1_correspondence_rejector"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get a string representation of the name of this class. <br /></td></tr>
<tr class="separator:aa5996af869d7aaa6b8b8dc156038dd3f inherit pub_methods_classpcl_1_1registration_1_1_correspondence_rejector"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a08f07ed59490ee2c5d01a99d5589e306 inherit pub_methods_classpcl_1_1registration_1_1_correspondence_rejector"><td class="memItemLeft" align="right" valign="top"><a id="a08f07ed59490ee2c5d01a99d5589e306"></a>
virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_correspondence_rejector.html#a08f07ed59490ee2c5d01a99d5589e306">requiresSourceNormals</a> () const</td></tr>
<tr class="memdesc:a08f07ed59490ee2c5d01a99d5589e306 inherit pub_methods_classpcl_1_1registration_1_1_correspondence_rejector"><td class="mdescLeft">&#160;</td><td class="mdescRight">See if this rejector requires source normals <br /></td></tr>
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<tr class="memitem:a2f61f392a8d0c3da5502949cb22bba7d inherit pub_methods_classpcl_1_1registration_1_1_correspondence_rejector"><td class="memItemLeft" align="right" valign="top"><a id="a2f61f392a8d0c3da5502949cb22bba7d"></a>
virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_correspondence_rejector.html#a2f61f392a8d0c3da5502949cb22bba7d">setSourceNormals</a> (pcl::PCLPointCloud2::ConstPtr)</td></tr>
<tr class="memdesc:a2f61f392a8d0c3da5502949cb22bba7d inherit pub_methods_classpcl_1_1registration_1_1_correspondence_rejector"><td class="mdescLeft">&#160;</td><td class="mdescRight">Abstract method for setting the source normals <br /></td></tr>
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<tr class="memitem:ab3afeffa725f643d1ebc3c0545ea05be inherit pub_methods_classpcl_1_1registration_1_1_correspondence_rejector"><td class="memItemLeft" align="right" valign="top"><a id="ab3afeffa725f643d1ebc3c0545ea05be"></a>
virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_correspondence_rejector.html#ab3afeffa725f643d1ebc3c0545ea05be">requiresTargetNormals</a> () const</td></tr>
<tr class="memdesc:ab3afeffa725f643d1ebc3c0545ea05be inherit pub_methods_classpcl_1_1registration_1_1_correspondence_rejector"><td class="mdescLeft">&#160;</td><td class="mdescRight">See if this rejector requires target normals <br /></td></tr>
<tr class="separator:ab3afeffa725f643d1ebc3c0545ea05be inherit pub_methods_classpcl_1_1registration_1_1_correspondence_rejector"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a4bbb67f5066c674eba95b440bb4fd03a inherit pub_methods_classpcl_1_1registration_1_1_correspondence_rejector"><td class="memItemLeft" align="right" valign="top"><a id="a4bbb67f5066c674eba95b440bb4fd03a"></a>
virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_correspondence_rejector.html#a4bbb67f5066c674eba95b440bb4fd03a">setTargetNormals</a> (pcl::PCLPointCloud2::ConstPtr)</td></tr>
<tr class="memdesc:a4bbb67f5066c674eba95b440bb4fd03a inherit pub_methods_classpcl_1_1registration_1_1_correspondence_rejector"><td class="mdescLeft">&#160;</td><td class="mdescRight">Abstract method for setting the target normals <br /></td></tr>
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</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-attribs"></a>
Public 属性</h2></td></tr>
<tr class="memitem:a74d516ca516f7421fd86a53dec1a57b1"><td class="memItemLeft" align="right" valign="top"><a id="a74d516ca516f7421fd86a53dec1a57b1"></a>
CorrespondencesConstPtr&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_correspondence_rejector_sample_consensus.html#a74d516ca516f7421fd86a53dec1a57b1">input_correspondences_</a></td></tr>
<tr class="memdesc:a74d516ca516f7421fd86a53dec1a57b1"><td class="mdescLeft">&#160;</td><td class="mdescRight">The input correspondences. <br /></td></tr>
<tr class="separator:a74d516ca516f7421fd86a53dec1a57b1"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ab97eb70d3661574301fe1f978576726d"><td class="memItemLeft" align="right" valign="top"><a id="ab97eb70d3661574301fe1f978576726d"></a>
std::string&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_correspondence_rejector_sample_consensus.html#ab97eb70d3661574301fe1f978576726d">rejection_name_</a></td></tr>
<tr class="memdesc:ab97eb70d3661574301fe1f978576726d"><td class="mdescLeft">&#160;</td><td class="mdescRight">The name of the rejection method. <br /></td></tr>
<tr class="separator:ab97eb70d3661574301fe1f978576726d"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pro-methods"></a>
Protected 成员函数</h2></td></tr>
<tr class="memitem:a4178793e09de5b7a197045d144204394"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_correspondence_rejector_sample_consensus.html#a4178793e09de5b7a197045d144204394">applyRejection</a> (pcl::Correspondences &amp;correspondences)</td></tr>
<tr class="memdesc:a4178793e09de5b7a197045d144204394"><td class="mdescLeft">&#160;</td><td class="mdescRight">Apply the rejection algorithm.  <a href="classpcl_1_1registration_1_1_correspondence_rejector_sample_consensus.html#a4178793e09de5b7a197045d144204394">更多...</a><br /></td></tr>
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Protected 属性</h2></td></tr>
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double&#160;</td><td class="memItemRight" valign="bottom"><b>inlier_threshold_</b></td></tr>
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int&#160;</td><td class="memItemRight" valign="bottom"><b>max_iterations_</b></td></tr>
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PointCloudConstPtr&#160;</td><td class="memItemRight" valign="bottom"><b>input_</b></td></tr>
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PointCloudPtr&#160;</td><td class="memItemRight" valign="bottom"><b>input_transformed_</b></td></tr>
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PointCloudConstPtr&#160;</td><td class="memItemRight" valign="bottom"><b>target_</b></td></tr>
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Eigen::Matrix4f&#160;</td><td class="memItemRight" valign="bottom"><b>best_transformation_</b></td></tr>
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bool&#160;</td><td class="memItemRight" valign="bottom"><b>refine_</b></td></tr>
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std::vector&lt; int &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>inlier_indices_</b></td></tr>
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bool&#160;</td><td class="memItemRight" valign="bottom"><b>save_inliers_</b></td></tr>
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<tr class="inherit_header pro_attribs_classpcl_1_1registration_1_1_correspondence_rejector"><td colspan="2" onclick="javascript:toggleInherit('pro_attribs_classpcl_1_1registration_1_1_correspondence_rejector')"><img src="closed.png" alt="-"/>&#160;Protected 属性 继承自 <a class="el" href="classpcl_1_1registration_1_1_correspondence_rejector.html">pcl::registration::CorrespondenceRejector</a></td></tr>
<tr class="memitem:ab97eb70d3661574301fe1f978576726d inherit pro_attribs_classpcl_1_1registration_1_1_correspondence_rejector"><td class="memItemLeft" align="right" valign="top"><a id="ab97eb70d3661574301fe1f978576726d"></a>
std::string&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_correspondence_rejector.html#ab97eb70d3661574301fe1f978576726d">rejection_name_</a></td></tr>
<tr class="memdesc:ab97eb70d3661574301fe1f978576726d inherit pro_attribs_classpcl_1_1registration_1_1_correspondence_rejector"><td class="mdescLeft">&#160;</td><td class="mdescRight">The name of the rejection method. <br /></td></tr>
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CorrespondencesConstPtr&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_correspondence_rejector.html#a74d516ca516f7421fd86a53dec1a57b1">input_correspondences_</a></td></tr>
<tr class="memdesc:a74d516ca516f7421fd86a53dec1a57b1 inherit pro_attribs_classpcl_1_1registration_1_1_correspondence_rejector"><td class="mdescLeft">&#160;</td><td class="mdescRight">The input correspondences. <br /></td></tr>
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Private 类型</h2></td></tr>
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typedef <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloud</b></td></tr>
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typedef PointCloud::Ptr&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloudPtr</b></td></tr>
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typedef PointCloud::ConstPtr&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloudConstPtr</b></td></tr>
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<a name="details" id="details"></a><h2 class="groupheader">详细描述</h2>
<div class="textblock"><h3>template&lt;typename PointT&gt;<br />
class pcl::registration::CorrespondenceRejectorSampleConsensus&lt; PointT &gt;</h3>

<p><a class="el" href="classpcl_1_1registration_1_1_correspondence_rejector_sample_consensus.html" title="CorrespondenceRejectorSampleConsensus implements a correspondence rejection using Random Sample Conse...">CorrespondenceRejectorSampleConsensus</a> implements a correspondence rejection using Random Sample Consensus to identify inliers (and reject outliers) </p>
<dl class="section author"><dt>作者</dt><dd>Dirk Holz </dd></dl>
</div><h2 class="groupheader">成员函数说明</h2>
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<h2 class="memtitle"><span class="permalink"><a href="#a4178793e09de5b7a197045d144204394">&#9670;&nbsp;</a></span>applyRejection()</h2>

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          <td>(</td>
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<p>Apply the rejection algorithm. </p>
<dl class="params"><dt>参数</dt><dd>
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    <tr><td class="paramdir">[out]</td><td class="paramname">correspondences</td><td>the set of resultant correspondences. </td></tr>
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<p>实现了 <a class="el" href="classpcl_1_1registration_1_1_correspondence_rejector.html#a60dbdcf8f1005a1405dcab244a5c5608">pcl::registration::CorrespondenceRejector</a>.</p>

<p>被 <a class="el" href="classpcl_1_1registration_1_1_correspondence_rejector_sample_consensus2_d.html#af68c645ad702192489173c34cef8d7ed">pcl::registration::CorrespondenceRejectorSampleConsensus2D&lt; PointT &gt;</a> 重载.</p>
<div class="fragment"><div class="line"><a name="l00256"></a><span class="lineno">  256</span>&#160;        {</div>
<div class="line"><a name="l00257"></a><span class="lineno">  257</span>&#160;          <a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector_sample_consensus.html#a2aaf796cecda8778814f114c54026570">getRemainingCorrespondences</a> (*<a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector_sample_consensus.html#a74d516ca516f7421fd86a53dec1a57b1">input_correspondences_</a>, correspondences);</div>
<div class="line"><a name="l00258"></a><span class="lineno">  258</span>&#160;        }</div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_correspondence_rejector_sample_consensus_html_a2aaf796cecda8778814f114c54026570"><div class="ttname"><a href="classpcl_1_1registration_1_1_correspondence_rejector_sample_consensus.html#a2aaf796cecda8778814f114c54026570">pcl::registration::CorrespondenceRejectorSampleConsensus::getRemainingCorrespondences</a></div><div class="ttdeci">void getRemainingCorrespondences(const pcl::Correspondences &amp;original_correspondences, pcl::Correspondences &amp;remaining_correspondences)</div><div class="ttdoc">Get a list of valid correspondences after rejection from the original set of correspondences.</div><div class="ttdef"><b>Definition:</b> correspondence_rejection_sample_consensus.hpp:85</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_correspondence_rejector_sample_consensus_html_a74d516ca516f7421fd86a53dec1a57b1"><div class="ttname"><a href="classpcl_1_1registration_1_1_correspondence_rejector_sample_consensus.html#a74d516ca516f7421fd86a53dec1a57b1">pcl::registration::CorrespondenceRejectorSampleConsensus::input_correspondences_</a></div><div class="ttdeci">CorrespondencesConstPtr input_correspondences_</div><div class="ttdoc">The input correspondences.</div><div class="ttdef"><b>Definition:</b> correspondence_rejection.h:191</div></div>
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<h2 class="memtitle"><span class="permalink"><a href="#a1542fc4a3d5d6c82485a321864a027af">&#9670;&nbsp;</a></span>getBestTransformation()</h2>

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<p>Get the best transformation after RANSAC rejection. </p>
<dl class="section return"><dt>返回</dt><dd>The homogeneous 4x4 transformation yielding the largest number of inliers. </dd></dl>
<div class="fragment"><div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160;{ <span class="keywordflow">return</span> best_transformation_; };</div>
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<h2 class="memtitle"><span class="permalink"><a href="#a09e5739be1169a311fae7408e12cb359">&#9670;&nbsp;</a></span>getInliersIndices()</h2>

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<p>Get the inlier indices found by the correspondence rejector. This information is only saved if setSaveInliers(true) was called in advance. </p>
<dl class="params"><dt>参数</dt><dd>
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    <tr><td class="paramdir">[out]</td><td class="paramname">inlier_indices</td><td>Indices for the inliers </td></tr>
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<div class="fragment"><div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160;{ inlier_indices = inlier_indices_; }</div>
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<h2 class="memtitle"><span class="permalink"><a href="#a0923e654979f143451b724300e591829">&#9670;&nbsp;</a></span>getInlierThreshold()</h2>

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<p>Get the maximum distance between corresponding points. </p>
<dl class="section return"><dt>返回</dt><dd>Distance threshold in the same dimension as source and target data sets. </dd></dl>
<div class="fragment"><div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;{ <span class="keywordflow">return</span> inlier_threshold_; };</div>
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<h2 class="memtitle"><span class="permalink"><a href="#aa086670c0dec609354fcb5f02746ee8f">&#9670;&nbsp;</a></span>getMaximumIterations()</h2>

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<p>Get the maximum number of iterations. </p>
<dl class="section return"><dt>返回</dt><dd>max_iterations Maximum number if iterations to run </dd></dl>
<div class="fragment"><div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160;{ <span class="keywordflow">return</span> (max_iterations_); }</div>
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<h2 class="memtitle"><span class="permalink"><a href="#ac40d21538c1487e0a080bb084fb64cb7">&#9670;&nbsp;</a></span>getMaxIterations()</h2>

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<p>Get the maximum number of iterations. </p>
<dl class="section return"><dt>返回</dt><dd>max_iterations Maximum number if iterations to run </dd></dl>
<div class="fragment"><div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;{</div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;  <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector_sample_consensus.html#aa086670c0dec609354fcb5f02746ee8f">getMaximumIterations</a> ());</div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;}</div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_correspondence_rejector_sample_consensus_html_aa086670c0dec609354fcb5f02746ee8f"><div class="ttname"><a href="classpcl_1_1registration_1_1_correspondence_rejector_sample_consensus.html#aa086670c0dec609354fcb5f02746ee8f">pcl::registration::CorrespondenceRejectorSampleConsensus::getMaximumIterations</a></div><div class="ttdeci">int getMaximumIterations()</div><div class="ttdoc">Get the maximum number of iterations.</div><div class="ttdef"><b>Definition:</b> correspondence_rejection_sample_consensus.h:208</div></div>
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<h2 class="memtitle"><span class="permalink"><a href="#a2aaf796cecda8778814f114c54026570">&#9670;&nbsp;</a></span>getRemainingCorrespondences()</h2>

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          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">virtual</span></span>  </td>
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<p>Get a list of valid correspondences after rejection from the original set of correspondences. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">original_correspondences</td><td>the set of initial correspondences given </td></tr>
    <tr><td class="paramdir">[out]</td><td class="paramname">remaining_correspondences</td><td>the resultant filtered set of remaining correspondences </td></tr>
  </table>
  </dd>
</dl>

<p>实现了 <a class="el" href="classpcl_1_1registration_1_1_correspondence_rejector.html#a42fe3fe1efc3275e78833200bce2027e">pcl::registration::CorrespondenceRejector</a>.</p>

<p>被 <a class="el" href="classpcl_1_1registration_1_1_correspondence_rejector_sample_consensus2_d.html#a19bd9c515127d357601e2af9dd490d0e">pcl::registration::CorrespondenceRejectorSampleConsensus2D&lt; PointT &gt;</a> 重载.</p>
<div class="fragment"><div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;{</div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;  <span class="keywordflow">if</span> (!input_)</div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;  {</div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;    PCL_ERROR (<span class="stringliteral">&quot;[pcl::registration::%s::getRemainingCorrespondences] No input cloud dataset was given!\n&quot;</span>, <a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector_sample_consensus.html#aa5996af869d7aaa6b8b8dc156038dd3f">getClassName</a> ().c_str ());</div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;    <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;  }</div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160; </div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;  <span class="keywordflow">if</span> (!target_)</div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;  {</div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;    PCL_ERROR (<span class="stringliteral">&quot;[pcl::registration::%s::getRemainingCorrespondences] No input target dataset was given!\n&quot;</span>, <a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector_sample_consensus.html#aa5996af869d7aaa6b8b8dc156038dd3f">getClassName</a> ().c_str ());</div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;    <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;  }</div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160; </div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;  <span class="keywordflow">if</span> (save_inliers_)</div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;     inlier_indices_.clear ();</div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160; </div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;  <span class="keywordtype">int</span> nr_correspondences = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (original_correspondences.size ());</div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;  std::vector&lt;int&gt; source_indices (nr_correspondences);</div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;  std::vector&lt;int&gt; target_indices (nr_correspondences);</div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160; </div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;  <span class="comment">// Copy the query-match indices</span></div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; original_correspondences.size (); ++i)</div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;  {</div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;    source_indices[i] = original_correspondences[i].index_query;</div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;    target_indices[i] = original_correspondences[i].index_match;</div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;  }</div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160; </div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;   <span class="comment">// from pcl/registration/icp.hpp:</span></div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;   std::vector&lt;int&gt; source_indices_good;</div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;   std::vector&lt;int&gt; target_indices_good;</div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;   {</div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;     <span class="comment">// From the set of correspondences found, attempt to remove outliers</span></div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;     <span class="comment">// Create the registration model</span></div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;     <span class="keyword">typedef</span> <span class="keyword">typename</span> pcl::SampleConsensusModelRegistration&lt;PointT&gt;::Ptr SampleConsensusModelRegistrationPtr;</div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;     SampleConsensusModelRegistrationPtr model;</div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;     model.reset (<span class="keyword">new</span> <a class="code" href="classpcl_1_1_sample_consensus_model_registration.html">pcl::SampleConsensusModelRegistration&lt;PointT&gt;</a> (input_, source_indices));</div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;     <span class="comment">// Pass the target_indices</span></div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;     model-&gt;setInputTarget (target_, target_indices);</div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;     <span class="comment">// Create a RANSAC model</span></div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;     <a class="code" href="classpcl_1_1_random_sample_consensus.html">pcl::RandomSampleConsensus&lt;PointT&gt;</a> sac (model, inlier_threshold_);</div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;     sac.setMaxIterations (max_iterations_);</div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160; </div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;     <span class="comment">// Compute the set of inliers</span></div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;     <span class="keywordflow">if</span> (!sac.computeModel ())</div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;     {</div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;       remaining_correspondences = original_correspondences;</div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;       best_transformation_.setIdentity ();</div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;       <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;     }</div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;     <span class="keywordflow">else</span></div>
<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;     {</div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;       <span class="keywordflow">if</span> (refine_ &amp;&amp; !sac.refineModel ())</div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;       {</div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;         PCL_ERROR (<span class="stringliteral">&quot;[pcl::registration::CorrespondenceRejectorSampleConsensus::getRemainingCorrespondences] Could not refine the model! Returning an empty solution.\n&quot;</span>);</div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;         <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;       }</div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;       </div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;       std::vector&lt;int&gt; inliers;</div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;       sac.getInliers (inliers);</div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160; </div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;       <span class="keywordflow">if</span> (inliers.size () &lt; 3)</div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;       {</div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;         remaining_correspondences = original_correspondences;</div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;         best_transformation_.setIdentity ();</div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;         <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;       }</div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;       boost::unordered_map&lt;int, int&gt; index_to_correspondence;</div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;       <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; nr_correspondences; ++i)</div>
<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;         index_to_correspondence[original_correspondences[i].index_query] = i;</div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160; </div>
<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;       remaining_correspondences.resize (inliers.size ());</div>
<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;       <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; inliers.size (); ++i)</div>
<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;         remaining_correspondences[i] = original_correspondences[index_to_correspondence[inliers[i]]];</div>
<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160; </div>
<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;       <span class="keywordflow">if</span> (save_inliers_)</div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;       {</div>
<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;         inlier_indices_.reserve (inliers.size ());</div>
<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;         <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; inliers.size (); ++i)</div>
<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;           inlier_indices_.push_back (index_to_correspondence[inliers[i]]);</div>
<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;       }</div>
<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160; </div>
<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;       <span class="comment">// get best transformation</span></div>
<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;       Eigen::VectorXf model_coefficients;</div>
<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;       sac.getModelCoefficients (model_coefficients);</div>
<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;       best_transformation_.row (0) = model_coefficients.segment&lt;4&gt;(0);</div>
<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;       best_transformation_.row (1) = model_coefficients.segment&lt;4&gt;(4);</div>
<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;       best_transformation_.row (2) = model_coefficients.segment&lt;4&gt;(8);</div>
<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;       best_transformation_.row (3) = model_coefficients.segment&lt;4&gt;(12);</div>
<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;     }</div>
<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;   }</div>
<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;}</div>
<div class="ttc" id="aclasspcl_1_1_random_sample_consensus_html"><div class="ttname"><a href="classpcl_1_1_random_sample_consensus.html">pcl::RandomSampleConsensus</a></div><div class="ttdoc">RandomSampleConsensus represents an implementation of the RANSAC (RAndom SAmple Consensus) algorithm,...</div><div class="ttdef"><b>Definition:</b> ransac.h:57</div></div>
<div class="ttc" id="aclasspcl_1_1_sample_consensus_model_registration_html"><div class="ttname"><a href="classpcl_1_1_sample_consensus_model_registration.html">pcl::SampleConsensusModelRegistration</a></div><div class="ttdoc">SampleConsensusModelRegistration defines a model for Point-To-Point registration outlier rejection.</div><div class="ttdef"><b>Definition:</b> sac_model_registration.h:59</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_correspondence_rejector_sample_consensus_html_aa5996af869d7aaa6b8b8dc156038dd3f"><div class="ttname"><a href="classpcl_1_1registration_1_1_correspondence_rejector_sample_consensus.html#aa5996af869d7aaa6b8b8dc156038dd3f">pcl::registration::CorrespondenceRejectorSampleConsensus::getClassName</a></div><div class="ttdeci">const std::string &amp; getClassName() const</div><div class="ttdoc">Get a string representation of the name of this class.</div><div class="ttdef"><b>Definition:</b> correspondence_rejection.h:135</div></div>
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<h2 class="memtitle"><span class="permalink"><a href="#a48a908a4f76abe9b09d245e295bc00e2">&#9670;&nbsp;</a></span>setInlierThreshold()</h2>

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<div class="memproto">
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template&lt;typename PointT &gt; </div>
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          <td class="memname">void <a class="el" href="classpcl_1_1registration_1_1_correspondence_rejector_sample_consensus.html">pcl::registration::CorrespondenceRejectorSampleConsensus</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::setInlierThreshold </td>
          <td>(</td>
          <td class="paramtype">double&#160;</td>
          <td class="paramname"><em>threshold</em></td><td>)</td>
          <td></td>
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<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
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<p>Set the maximum distance between corresponding points. Correspondences with distances below the threshold are considered as inliers. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">threshold</td><td>Distance threshold in the same dimension as source and target data sets. </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;{ inlier_threshold_ = threshold; };</div>
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<h2 class="memtitle"><span class="permalink"><a href="#a317ed67e3cf3c3dc95515b1ae1922477">&#9670;&nbsp;</a></span>setInputCloud()</h2>

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<div class="memproto">
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template&lt;typename PointT &gt; </div>
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          <td class="memname">void <a class="el" href="classpcl_1_1registration_1_1_correspondence_rejector_sample_consensus.html">pcl::registration::CorrespondenceRejectorSampleConsensus</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::setInputCloud </td>
          <td>(</td>
          <td class="paramtype">const PointCloudConstPtr &amp;&#160;</td>
          <td class="paramname"><em>cloud</em></td><td>)</td>
          <td></td>
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<p>Provide a source point cloud dataset (must contain XYZ data!) </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">cloud</td><td>a cloud containing XYZ data </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;{</div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;  <a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector_sample_consensus.html#a0ade3619194ea442ea9bd819762e63d0">setInputSource</a> (cloud);</div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;}</div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_correspondence_rejector_sample_consensus_html_a0ade3619194ea442ea9bd819762e63d0"><div class="ttname"><a href="classpcl_1_1registration_1_1_correspondence_rejector_sample_consensus.html#a0ade3619194ea442ea9bd819762e63d0">pcl::registration::CorrespondenceRejectorSampleConsensus::setInputSource</a></div><div class="ttdeci">virtual void setInputSource(const PointCloudConstPtr &amp;cloud)</div><div class="ttdoc">Provide a source point cloud dataset (must contain XYZ data!)</div><div class="ttdef"><b>Definition:</b> correspondence_rejection_sample_consensus.h:116</div></div>
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<h2 class="memtitle"><span class="permalink"><a href="#a0ade3619194ea442ea9bd819762e63d0">&#9670;&nbsp;</a></span>setInputSource()</h2>

<div class="memitem">
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template&lt;typename PointT &gt; </div>
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          <td class="memname">virtual void <a class="el" href="classpcl_1_1registration_1_1_correspondence_rejector_sample_consensus.html">pcl::registration::CorrespondenceRejectorSampleConsensus</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::setInputSource </td>
          <td>(</td>
          <td class="paramtype">const PointCloudConstPtr &amp;&#160;</td>
          <td class="paramname"><em>cloud</em></td><td>)</td>
          <td></td>
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<p>Provide a source point cloud dataset (must contain XYZ data!) </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">cloud</td><td>a cloud containing XYZ data </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;        { </div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;          input_ = cloud; </div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;        }</div>
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<h2 class="memtitle"><span class="permalink"><a href="#a42faaefd43eaf43b32efe0b1722a3d98">&#9670;&nbsp;</a></span>setInputTarget()</h2>

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template&lt;typename PointT &gt; </div>
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          <td class="memname">virtual void <a class="el" href="classpcl_1_1registration_1_1_correspondence_rejector_sample_consensus.html">pcl::registration::CorrespondenceRejectorSampleConsensus</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::setInputTarget </td>
          <td>(</td>
          <td class="paramtype">const PointCloudConstPtr &amp;&#160;</td>
          <td class="paramname"><em>cloud</em></td><td>)</td>
          <td></td>
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      </table>
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<p>Provide a target point cloud dataset (must contain XYZ data!) </p>
<dl class="params"><dt>参数</dt><dd>
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    <tr><td class="paramdir">[in]</td><td class="paramname">cloud</td><td>a cloud containing XYZ data </td></tr>
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<div class="fragment"><div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;{ target_ = cloud; }</div>
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<h2 class="memtitle"><span class="permalink"><a href="#a49fa9e17ad1e371c4b5db9766d598349">&#9670;&nbsp;</a></span>setMaximumIterations()</h2>

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          <td class="memname">void <a class="el" href="classpcl_1_1registration_1_1_correspondence_rejector_sample_consensus.html">pcl::registration::CorrespondenceRejectorSampleConsensus</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::setMaximumIterations </td>
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<p>Set the maximum number of iterations. </p>
<dl class="params"><dt>参数</dt><dd>
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    <tr><td class="paramdir">[in]</td><td class="paramname">max_iterations</td><td>Maximum number if iterations to run </td></tr>
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<div class="fragment"><div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;{ max_iterations_ = std::max (max_iterations, 0); }</div>
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<h2 class="memtitle"><span class="permalink"><a href="#a48872674ea2153a558fcb10756783612">&#9670;&nbsp;</a></span>setMaxIterations()</h2>

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<p>Set the maximum number of iterations. </p>
<dl class="params"><dt>参数</dt><dd>
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<div class="fragment"><div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;{</div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;  <a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector_sample_consensus.html#a49fa9e17ad1e371c4b5db9766d598349">setMaximumIterations</a> (max_iterations);</div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;}</div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_correspondence_rejector_sample_consensus_html_a49fa9e17ad1e371c4b5db9766d598349"><div class="ttname"><a href="classpcl_1_1registration_1_1_correspondence_rejector_sample_consensus.html#a49fa9e17ad1e371c4b5db9766d598349">pcl::registration::CorrespondenceRejectorSampleConsensus::setMaximumIterations</a></div><div class="ttdeci">void setMaximumIterations(int max_iterations)</div><div class="ttdoc">Set the maximum number of iterations.</div><div class="ttdef"><b>Definition:</b> correspondence_rejection_sample_consensus.h:195</div></div>
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<h2 class="memtitle"><span class="permalink"><a href="#ad51df1b8798951557863082feabcc0b8">&#9670;&nbsp;</a></span>setRefineModel()</h2>

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<p>Specify whether the model should be refined internally using the variance of the inliers </p>
<dl class="params"><dt>参数</dt><dd>
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    <tr><td class="paramdir">[in]</td><td class="paramname">refine</td><td>true if the model should be refined, false otherwise </td></tr>
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<div class="fragment"><div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160;        {</div>
<div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160;          refine_ = refine;</div>
<div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160;        }</div>
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<h2 class="memtitle"><span class="permalink"><a href="#a856f38d7b293a9acbd019c95cbffa124">&#9670;&nbsp;</a></span>setSaveInliers()</h2>

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<p>Set whether to save inliers or not </p>
<dl class="params"><dt>参数</dt><dd>
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<div class="fragment"><div class="line"><a name="l00242"></a><span class="lineno">  242</span>&#160;{ save_inliers_ = s; }</div>
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<h2 class="memtitle"><span class="permalink"><a href="#a40ad890d41710c6b1eef0f75a4d24046">&#9670;&nbsp;</a></span>setTargetCloud()</h2>

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<p>Provide a target point cloud dataset (must contain XYZ data!) </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">cloud</td><td>a cloud containing XYZ data </td></tr>
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<div class="fragment"><div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;{</div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;  <a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector_sample_consensus.html#a42faaefd43eaf43b32efe0b1722a3d98">setInputTarget</a> (cloud);</div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;}</div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_correspondence_rejector_sample_consensus_html_a42faaefd43eaf43b32efe0b1722a3d98"><div class="ttname"><a href="classpcl_1_1registration_1_1_correspondence_rejector_sample_consensus.html#a42faaefd43eaf43b32efe0b1722a3d98">pcl::registration::CorrespondenceRejectorSampleConsensus::setInputTarget</a></div><div class="ttdeci">virtual void setInputTarget(const PointCloudConstPtr &amp;cloud)</div><div class="ttdoc">Provide a target point cloud dataset (must contain XYZ data!)</div><div class="ttdef"><b>Definition:</b> correspondence_rejection_sample_consensus.h:136</div></div>
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